\begin{abstract}
We, Team Mazin', set out to build a robot which could navigate a maze, perform SLAM, find red-square-bordered tag images, and identify the object represented within. To this end, we build a small octagonal shaped robot, outfitted with IR distance sensors, cameras and a differential drive system, running the Robot Operating System. We designed and build both hardware and software to perform this task, using a subsumption based control architecture, and particle filter and odometry based monte carlo localization. The robot is capable of exploring and mapping a maze, finding tags in that maze, and then navigate to each of these tags from the starting position.
\end{abstract}